H-Bot Case Erector
Techniques for erecting folded-flat cases are described herein. In a first example, a grasping tool is moved along a supporting beam in two directions in a first dimension. The supporting beam is configured for movement along first and second beams two directions in a second dimension. The grasping tool is configured to grasp and open a folded-flat case. In a second example, the grasping tool is configured with a rotation arm. A rotation-control beam defines a track, within which a pin connected to the rotation arm is configured to slide. A motor drives the rotation-control beam in two directions in one dimension, to thereby rotate the grasping tool.
This patent application claims benefit of priority to U.S. patent application Ser. No. 63/303,366, titled “H-Bot Case Erector”, filed on Jan. 26, 2022, which is incorporated herein by reference.
BACKGROUNDCardboard boxes are sold in a folded-flat form, to save space. Case erector machinery “erects” each case in a sequence of moves. Once erected, the bottom flaps may be taped or glued shut, the case may be filled with product (e.g., cans, boxes, or bags of food or beverage, etc.), and the top flaps may be sealed shut. While machinery to do these tasks is available, the packaging industry continues to look for faster, more accurate, and more reliable case erecting machinery.
The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the drawings to reference like features and components. Moreover, the figures are intended to illustrate general concepts, and not to indicate required and/or necessary elements.
A first example is seen in
In the example, the grasping tool may be configured with (for example) four suction cups that may be controlled individually (or in pairs), such as by valves connected to a partial vacuum source. As seen in
A second example is seen in
Additionally, an orientation of the tool is controllable by an angle of an arm. The arm may have a first end in a fixed relationship to the tool. As a second end of the arm is rotated, the tool is rotated. The second end of the arm may have an axle that travels in a slot defined in an “east-west” oriented guide beam. The east-west oriented guide beam may be moved in the north-south direction during operation. (Note: A “north-south” oriented guide beam could alternatively be used, and moved in the east-west direction.)
Accordingly, the location and angle of the tool may be controlled by: (1) moving the tool in the north-south direction along the north-south oriented support beam; (2) moving the east-west location of the north-south oriented support beam; and (3) moving the north-south location of the east-west oriented slotted guide beam. Accordingly, using a slotted guide beam, the H-Bot is able to control the orientation of the tool, thereby obviating the need for a motor attached directly to the tool and a wiring harness directly attached to the tool as it moves.
Overview Chain Guides Pivoting to Allow Case-ErectionA third example is seen in
In the solution of
Accordingly, by configuring the chain guides to pivot, sufficient space is created for the erection of the case (e.g., as seen in
A fourth example is seen in
The grasping tool 102 moves through positions 102A through 102G, thereby moving the case 106 through positions 106A through 106G. In position 102A, the grasping tool 102 grasps the folded-flat case 106 in its then-current location 106A adjacent to other cases in a “cassette,” “magazine,” or “rack” 124 of cases. In positions, 102B through 102E, the grasping tool 102 moves the folded-flat case through positions 106B through 106E. As the folded-flat case moves and/or rotates through positions 106B to 106D, it moves into the position 106E that is 90-degrees clockwise from its original position at 106A. At position 106E, the case 106 has been moved by the grasping tool 102 into a position that is in contact with a stationary tool 108.
In the example shown, the grasping tool 106 is equipped with suction cups (or suctions cup pairs) 110, 112. Similarly, the stationary tool 108 is equipped with suctions cups (or suctions cup pairs) 114, 116. At location 106A, the grasping tool has grasped two panels of the folded-flat case, i.e., there is a seam, fold, or crease between panels of the case (not shown) between the suction cups 110, 112. When the case is in location 106F, the suction cup 112 has released the minor (smaller) panel of the case, while the suction cup 110 retains its grip on the major panel of the case. Also, at location 106F the case has been partly opened, in that it is no longer in a folded-flat configuration. At location 106G, the case is in the “open” position, with 90-degree angles between all adjacent sides.
The grasping tool 102 is configured for movement in the “north” and “south” directions along a supporting beam 118. The supporting beam is configured for movement in the “east” and “west” directions. In the example shown, a “northern end” of the supporting beam 118 moves along a northern beam 120 of the H-bot, while a “southern end” of the supporting beam 118 moves along a southern beam 122 of the H-bot 102.
A rotation arm 1904 is attached to the grasping tool 1902. In an example, a first end of the rotation arm 1904 may be attached to the grasping tool 1902. By moving the second end of the rotation arm 1904, the angle of orientation of the grasping tool may be controlled. In an example of how the second end may be moved, a pin 1906 in a second end of the rotation arm 1904 may slide in a slot or track 1910 defined in a lengthwise direction in a rotation-control beam 1908. The rotation-control beam 1908 may oriented to move in north-south directions or east-west directions, depending on design constraints or preferences. In the example shown, the east/west orientated rotation-control beam moves north and/or south under control of a belt or chain drive 1912 and motor 1914. By moving in the north/south direction, the pin 1906 will slide in the slot or track 1910 and cause the grasping tool 1902 to rotate.
Accordingly, by moving the grasping tool north-and-south on the supporting beam 118 (e.g., by drive belt and motor, not shown), and by moving the supporting beam east-and-west on the northern beam 120 and southern beam 122 (e.g., by drive belt and motor, not shown), the location of the grasping tool may be controlled. Additionally, by moving the rotation-control beam 1908 the angle of orientation (i.e., the rotation) of the grasping tool 1902 may be controlled. The control is provided, for example, by the pin 1906 moving in the slot 1910 of the rotation-control beam 1908 as that beam is moved to thereby move the rotation arm 1904 and rotate the grasping tool.
In some examples, movement of the grasping tool 1902 in either the north or south direction will be accompanied by movement of the rotation-control beam 1904 in the same direction and by the same magnitude if the orientation of the grasping tool is to remain constant. In other examples, the grasping tool may be moved in a non-linear manner while the angle of orientation of the grasping tool is changed.
Example System and TechniquesIn the example of
Several flight lugs (e.g., flight lugs 2414, 2416) on each pivoting chain guide push erected cases along a conveyor assembly. In an example, the flight lugs may be attached to a chain, which moves on or within a track formed by an ultra-high molecular weight polymer.
A rack 124 of folded-flat cases is available to a grasping tool (shown in earlier figures, but not shown here for reasons of drawing clarity). One by one, the cases (e.g., in a folded-flat configuration) may be grasped by the grasping tool, and erected into a box-like configuration. In an example, at least part of the case-erection process may be performed in the space between the chain guides in the “open” configuration of
As seen in
The pivoting side belt guide system 3100 is translatable (e.g., by a pivoting motion) between “open” and “closed” configurations. On each belt guide 3102, 3104, a fixed guide portion 3108 is held in a fixed position, while a pivoting guide portion 3110 moves between the open and closed configurations.
In the view of
Each belt guide 3102, 3104 may include a fixed frame portion 3112 and a movable or pivoting frame portion 3114. The frame portions support rollers, which in turn support the belt 3106. The pivoting frame portion 3114 is movable between the open and closed configurations. A pivoting end roller 3118 is supported by the pivoting frame 3114, and is part of the pivoting guide portion 3110. A fixed end roller 3116 is part of the fixed guide portion 3108. In an example, the fixed end roller 3116 may function as a drive roller. In that example, an electric motor may be used to turn the fixed end roller in the appropriate direction, speed, timing, etc.
A pivoting roller pair 3120 of each belt guide 3102, 3104 holds the belt 3106 in place when the pivoting belt guide system 3100 is in the open or closed configurations.
An actuator 3122 of each belt guide 3102, 3104 moves the pivoting guide portion 3110 between the open and closed configurations. In a first example, compressed air and a cylinder may be used to power the actuator. In a second example, a solenoid may be used.
Computer-readable media, as the term is used herein, includes, at least, two types of computer-readable media, namely computer storage media and communications media. Computer storage media includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information for access by a computing device.
Computer storage media may be non-transitory in nature. In contrast, communication media may embody computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave, or other transmission mechanism. As defined herein, computer storage media is non-transitory does not include communications media.
In the method of
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The following examples of an H-bot to erect folded-flat cases, a grasping tool configured for rotation, pivoting chain guide system, and a pivoting belt guide system are expressed as number clauses. While the examples illustrate a number of possible configurations and techniques, they are not meant to be an exhaustive listing of the systems, methods, devices, and/or techniques described herein.
1. A case-erection apparatus, comprising: a grasping tool configured to grasp a case; a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension; a second tool, configured for grasping the case; and first and second beams configured for movement of the supporting beam in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular, wherein the case-erection apparatus is configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
2. The case-erection apparatus of clause 1, wherein: the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; the second tool is configured for grasping one panel of the case.
3. The case-erection apparatus of clause 1, wherein the grasping tool is configured to perform movements, comprising: grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and releasing grasp of the second panel prior to starting the second movement.
4. The case-erection apparatus of clause 1, additionally comprising: a rotation-control beam slidably moveable in either of the first dimension or the second dimension, wherein a slot is defined in a lengthwise direction of the rotation-control beam; a rotation arm attached to the grasping tool at a first end and having a pin attached to a second end, wherein the pin slides within the slot, wherein the grasping tool is rotated by movement of the rotation-control beam during the first movement.
5. The case-erection apparatus of clause 1, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
6. The case-erection apparatus of clause 1, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
7. The case-erection apparatus of clause 1, wherein: the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case.
8. A case-erection apparatus, comprising: a grasping tool configured to grasp a case; an H-Bot assembly comprising: a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension; first and second beams configured to support the supporting beam for movement in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular; and a rotation-control beam defining a slot within which a pin of a rotation arm of the grasping tool slides; a second tool, configured for grasping the case; and programming defined in memory and executed by a processor of the case-erection apparatus, and configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
9. The case-erection apparatus of clause 8, wherein: the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; the second tool is configured for grasping one panel of the case.
10. The case-erection apparatus of clause 8, wherein the grasping tool is configured to perform movements, comprising: grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and releasing grasp of the second panel prior to starting the second movement.
11. The case-erection apparatus of clause 8, wherein the programming of the case-erection apparatus is additionally configured to move the grasping tool to perform movements, comprising: releasing the case after it is opened; and moving into a position at which the grasping tool can grasp a second case.
12. The case-erection apparatus of clause 8, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
13. The case-erection apparatus of clause 8, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
14. The case-erection apparatus of clause 8, wherein: the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case.
15. A case-erection apparatus, comprising: a grasping tool configured to grasp a case, wherein the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case; a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension; a second tool, configured for grasping the case; and first and second beams configured to support the supporting beam for movement in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular, programming defined in memory and executed by a processor of the case-erection apparatus, and configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
16. The case-erection apparatus of clause 15, wherein: the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; the second tool is configured for grasping one panel of the case.
17. The case-erection apparatus of clause 15, wherein the grasping tool is configured to perform movements, comprising: grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and releasing grasp of the second panel prior to starting the second movement.
18. The case-erection apparatus of clause 15, additionally comprising: a rotation-control beam slidably moveable in either of the first dimension or the second dimension, wherein a slot is defined in a lengthwise direction of the rotation-control beam; a rotation arm attached to the grasping tool at a first end and having a pin attached to a second end, wherein the pin slides within the slot, wherein the grasping tool is rotated by movement of the rotation-control beam during the first movement.
19. The case-erection apparatus of clause 15, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
20. The case-erection apparatus of clause 15, additionally comprising: left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
21. An H-bot to erect folded-flat cases, comprising: a grasping tool; a supporting beam configured for movement of the grasping tool in two directions in a first dimension; and first and second beams configured for movement of the supporting beam in two directions in a second dimension.
22. An H-bot to erect folded-flat cases, comprising: a grasping tool configured with a rotation arm; a rotation-control beam defining a track; a pin connected to the rotation arm and configured to slide within the track; and a motor to drive the rotation-control beam in two directions in one dimension, to thereby rotate the grasping tool.
23. A pivoting chain guide system, comprising: a left chain guide having a left pivoting end portion; a right chain guide having a right pivoting end portion; and left and right actuators, to control positions of the left and right pivoting end portions, respectively, wherein the left and right actuators configure the left and right chain guides between open and closed configurations, wherein the open configuration is sized for case erection and the closed configuration is sized for case movement in a conveyor system.
24. A pivoting belt guide system, comprising: a left belt guide having a left end portion; a right belt guide having a right end portion; and left and right actuators, to control positions of the left and right end portions, respectively, wherein the left and right actuators configure the left and right belt guides between open and closed configurations, wherein the open configuration is sized for case erection and the closed configuration is sized for case movement in a conveyor system.
CONCLUSIONAlthough the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as exemplary forms of implementing the claims.
Claims
1. A case-erection apparatus, comprising:
- a grasping tool configured to grasp a case;
- a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension;
- a second tool, configured for grasping the case; and
- first and second beams configured for movement of the supporting beam in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular,
- wherein the case-erection apparatus is configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
2. The case-erection apparatus of claim 1, wherein:
- the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold;
- the second tool is configured for grasping one panel of the case.
3. The case-erection apparatus of claim 1, wherein the grasping tool is configured to perform movements, comprising:
- grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and
- releasing grasp of the second panel prior to starting the second movement.
4. The case-erection apparatus of claim 1, additionally comprising:
- a rotation-control beam slidably moveable in either of the first dimension or the second dimension, wherein a slot is defined in a lengthwise direction of the rotation-control beam;
- a rotation arm attached to the grasping tool at a first end and having a pin attached to a second end, wherein the pin slides within the slot,
- wherein the grasping tool is rotated by movement of the rotation-control beam during the first movement.
5. The case-erection apparatus of claim 1, additionally comprising:
- left and right pivoting end portions of respective left and right guides,
- wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
6. The case-erection apparatus of claim 1, additionally comprising:
- left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
7. The case-erection apparatus of claim 1, wherein:
- the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case.
8. A case-erection apparatus, comprising:
- a grasping tool configured to grasp a case;
- an H-Bot assembly comprising: a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension; first and second beams configured to support the supporting beam for movement in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular; and a rotation-control beam defining a slot within which a pin of a rotation arm of the grasping tool slides;
- a second tool, configured for grasping the case; and
- programming defined in memory and executed by a processor of the case-erection apparatus, and configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
9. The case-erection apparatus of claim 8, wherein:
- the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold;
- the second tool is configured for grasping one panel of the case.
10. The case-erection apparatus of claim 8, wherein the grasping tool is configured to perform movements, comprising:
- grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and
- releasing grasp of the second panel prior to starting the second movement.
11. The case-erection apparatus of claim 8, wherein the programming of the case-erection apparatus is additionally configured to move the grasping tool to perform movements, comprising:
- releasing the case after it is opened; and
- moving into a position at which the grasping tool can grasp a second case.
12. The case-erection apparatus of claim 8, additionally comprising:
- left and right pivoting end portions of respective left and right guides,
- wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
13. The case-erection apparatus of claim 8, additionally comprising:
- left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
14. The case-erection apparatus of claim 8, wherein:
- the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case.
15. A case-erection apparatus, comprising:
- a grasping tool configured to grasp a case, wherein the grasping tool is additionally configured with at least two suction cups positioned to allow at least one suction cup to be attached to each of two adjacent panels of the case;
- a supporting beam configured to support the grasping tool, and configured for movement of the grasping tool in two directions in a first dimension;
- a second tool, configured for grasping the case; and
- first and second beams configured to support the supporting beam for movement in two directions in a second dimension, wherein the first dimension and the second dimension are perpendicular,
- programming defined in memory and executed by a processor of the case-erection apparatus, and configured to move the grasping tool to perform movements, comprising: a first movement to move the case in a folded-flat configuration into contact with the second tool; and a second movement to open the case while the second tool remains stationary.
16. The case-erection apparatus of claim 15, wherein:
- the grasping tool is configured to grasp a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold;
- the second tool is configured for grasping one panel of the case.
17. The case-erection apparatus of claim 15, wherein the grasping tool is configured to perform movements, comprising:
- grasping a first panel of the case and a second panel of the case, wherein the first panel and the second panel are adjacent panels and are separated by a fold; and
- releasing grasp of the second panel prior to starting the second movement.
18. The case-erection apparatus of claim 15, additionally comprising:
- a rotation-control beam slidably moveable in either of the first dimension or the second dimension, wherein a slot is defined in a lengthwise direction of the rotation-control beam;
- a rotation arm attached to the grasping tool at a first end and having a pin attached to a second end, wherein the pin slides within the slot,
- wherein the grasping tool is rotated by movement of the rotation-control beam during the first movement.
19. The case-erection apparatus of claim 15, additionally comprising:
- left and right pivoting end portions of respective left and right guides,
- wherein the left and right pivoting end portions are in an open position, and wherein the second movement erects the case in an area between the left and right pivoting end portions while they are in the open position.
20. The case-erection apparatus of claim 15, additionally comprising:
- left and right pivoting end portions of respective left and right guides, wherein the left and right pivoting end portions are configured to transition between an open configuration and a closed configuration, and wherein the left and right guides move the case after the second movement opens the case.
Type: Application
Filed: Jan 24, 2023
Publication Date: Jul 27, 2023
Inventor: Joshua A. Burright (Spokane, WA)
Application Number: 18/100,837